Wall-climbing welding robot

Abstract

The utility model belongs to the technical field of welding, and discloses a wall-climbing welding robot which comprises a chassis, a driving assembly, a mechanical arm and a welding assembly, the driving assembly is installed at the bottom of the chassis, the mechanical arm is installed on the chassis, the welding assembly is installed at the end of the mechanical arm, and the driving assembly comprises a support, an AGV motor, advancing wheels, a servo motor, magnetic attraction wheels and a synchronous belt. The two advancing wheels are installed at the two ends of the support in parallel, the two AGV motors are installed on the side wall of one side of the support and connected with the opposite advancing wheels, the synchronous wheel is hollow, the magnetic attraction wheel is rotatably installed on the inner side of the hollow advancing wheel, and the servo motor is installed on the support and connected with the magnetic attraction wheel through the synchronous belt. The independent hollow driving wheel is driven by the AGV motor, and a plurality of permanent magnets distributed in a Halbach array are mounted on the magnetic attraction wheel in a matched manner, so that the magnetic attraction force is ensured, the weight of the welding robot is reduced, and the load capacity and adaptability of the welding robot are improved.

Description

Technical Field

[0001] This utility model belongs to the field of welding technology, specifically relating to a wall-climbing welding robot. Background Technology

[0002] In the welding field, traditional non-standard welding and large-component welding are mainly done manually. However, welding site conditions are complex and pose significant safety hazards. For example, vertical or curved surface welding of large equipment such as ship exteriors, oil and gas storage tanks, and nuclear power plant pressure vessels requires workers to operate at heights in confined environments, resulting in low welding efficiency. With the rapid development of industrial automation and intelligent manufacturing, wall-climbing welding equipment has been developed to solve these problems. However, existing wall-climbing welding equipment mostly uses magnetic attraction or vacuum adsorption to climb walls. Limited by its bulky mechanical structure and limited load capacity, it is large in size, slow in movement, and produces unsatisfactory welding results. Utility Model Content

[0003] The purpose of this invention is to solve the problems in the background art and provide a wall-climbing welding robot. This wall-climbing welding robot is lightweight, has a high load capacity, strong adaptability, and moves quickly, which can ensure welding effect and improve welding efficiency.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] A wall-climbing welding robot includes a chassis, a drive assembly, a robotic arm, and a welding assembly. Two sets of drive assemblies are symmetrically mounted on the bottom of the chassis. A robotic arm is mounted on the chassis on one side of the drive assembly in the direction of travel. The welding assembly is mounted on the end of the robotic arm. The drive assembly includes a bracket, AGV motors, travel wheels, servo motors, magnetic pulleys, and a synchronous belt. The bracket is inverted V-shaped, with its middle section connected to the chassis. Two travel wheels are mounted parallel to each other at both ends of the bracket. Two AGV motors are mounted on the side wall of one side of the bracket and are connected to the opposing travel wheels via right-angle reducers. The travel wheels are hollow, and the magnetic pulleys are rotatably mounted inside the hollow travel wheels. Two servo motors are mounted on the bracket, and each servo motor is connected to the opposing magnetic pulley via a synchronous belt located on the other side of the bracket.

[0006] The right-angle reducer is fixed to the bracket via a connecting flange. The output end of the right-angle reducer is connected to a bearing flange with a seat. One end of the travel wheel is fixedly connected to the outer edge of the bearing flange with a seat. An annular end cover is installed on the other end of the travel wheel. Support edges that connect to the bearing flange with a seat and the annular end cover are machined on the inner walls of both sides of the travel wheel.

[0007] The magnetic drive shaft is mounted on the magnetic chuck, which is coaxial with the travel wheel. The bracket, the annular end cover plate, and the bearing flange with seat are all equipped with bushings that support the rotation of the magnetic drive shaft. Synchronous pulleys that support the synchronous belt are mounted on the end of the magnetic drive shaft and the output shaft of the servo motor.

[0008] The magnetic chuck is fan-shaped, and multiple permanent magnets arranged in a Heilbeck array are installed on the fan-shaped ring surface of the magnetic chuck. A clearance opening adapted to the contour of the magnetic chuck is machined on the support edge near the annular end cover plate.

[0009] The welding assembly includes a support, a welding torch, a weld seam tracking camera, and a molten pool detection camera. A lead screw guide module is mounted on one side wall of the support, and the welding torch is mounted on the lead screw guide module. A wire guide tube is mounted on one side of the welding torch. The weld seam tracking camera is mounted on the other side of the support, and a laser emitter is also mounted on one side of the weld seam tracking camera. The working directions of the weld seam tracking camera and the laser emitter are parallel to the working direction of the welding torch. The molten pool detection camera is mounted on the side wall of the support, and the working direction of the molten pool detection camera is towards the welding torch.

[0010] The chassis is equipped with electrical components to control the drive components and welding components.

[0011] The beneficial effects of the wall-climbing welding robot provided by this utility model are:

[0012] (1) By installing two sets of drive components on the chassis, each drive component drives an independent hollow drive wheel through two AGV motors. Each drive wheel is equipped with a fan-shaped magnetic suction wheel, and multiple permanent magnets distributed in a Heilbeck array are installed on the magnetic suction wheel. While ensuring the magnetic attraction force, the weight of the welding robot is reduced, and the load capacity and adaptability of the welding robot are improved.

[0013] (2) By installing a screw guide rail module on the bracket, the welding torch can not only be moved by the robotic arm, but also be finely adjusted by the screw guide rail module, thus ensuring the welding effect.

[0014] (3) By setting a servo motor to control the magnetic chuck, the maximum magnetic angle can be found by adjusting the angle of the magnetic chuck. This reduces the weight of the magnetic chuck while ensuring its adsorption effect. In addition, the fan-shaped magnetic chuck can be used to pick up and put down the robot by adjusting the angle of the magnetic chuck. Compared with the existing magnetic chuck, which always attracts with magnetic force, the operation is more convenient. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram provided for an embodiment of the present utility model.

[0017] Figure 2 This is a schematic diagram of the internal structure provided for an embodiment of the present utility model.

[0018] Figure 3 This is a schematic diagram of the internal structure of the chassis provided in an embodiment of the present utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the driving component provided in an embodiment of the present utility model.

[0020] Figure 5 This is a schematic diagram of the axial cross-section of the magnetic drive shaft provided in an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the internal structure of the traveling wheel provided in an embodiment of the present utility model.

[0022] Figure 7 A schematic diagram of the welding assembly provided in an embodiment of this utility model.

[0023] Figure 8 A schematic diagram of the usage state provided for the embodiments of this utility model Figure 1 .

[0024] Figure 9 A schematic diagram of the usage state provided for the embodiments of this utility model Figure 2 .

[0025] Markings in the diagram: 1. Chassis; 2. Drive assembly; 201. Bracket; 202. AGV motor; 203. Right-angle reducer; 204. Connecting flange; 205. Traveling wheel; 206. Support edge; 207. Clearance opening; 208. Bearing flange with seat; 209. Annular end cover; 210. Servo motor; 211. Magnetic pulley; 212. Magnetic drive shaft; 213. Bushing; 214. Synchronous pulley; 215. Permanent magnet; 2 16. Synchronous belt; 3. Robotic arm; 4. Welding assembly; 41. Support plate; 42. Welding torch; 43. Weld seam tracking camera; 44. Laser emitter; 45. Molten pool detection camera; 46. Lead screw guide module; 47. Wire guide tube; 5. Electrical components; 51. Industrial computer; 52. Switch; 53. Wireless access point; 54. Switching power supply; 55. Terminal block assembly; 56. Relay; 57. Navigation radar; 58. PLC controller. Detailed Implementation

[0026] like Figures 1-7 As shown, the wall-climbing welding robot provided in this embodiment includes a chassis 1, a drive assembly 2, a robotic arm 3, and a welding assembly 4. An electrical assembly 5 is installed on the chassis 1 to control the operation of the drive assembly 2 and the welding assembly 4. The electrical assembly 5 includes an industrial control computer 51, a switch 52, a wireless access point 53, a switching power supply 54, a terminal block assembly 55, a relay 56, a navigation radar 56, a PLC controller 57, and other equipment. Two sets of drive assemblies 2 are symmetrically installed at the bottom of the chassis 1. A robotic arm 3 is installed on the chassis 1 on one side of the drive assembly 2 in the direction of travel. The welding assembly 4 is installed at the end of the robotic arm 3. Under the control of the electrical assembly 5, the drive assembly 2 moves to the weld seam, and the robotic arm 3 drives the welding assembly 4 to weld the weld seam.

[0027] To ensure the climbing effect, such as Figures 4-6As shown, the drive assembly 2 includes a bracket 201, an AGV motor 202, travel wheels 205, a servo motor 210, a magnetic pulley 211, and a synchronous belt 216. The bracket 201 is inverted V-shaped, which provides stable alignment when welding tubular workpieces. The middle of the bracket 201 is connected to the chassis 1. Two travel wheels 205 are installed parallel to each other at both ends of the bracket 201. Two AGV motors 202 are installed on the side wall of one side of the bracket 201. The right-angle reducer 203 is fixed to the bracket 201 via a connecting flange 204. The output end of the right-angle reducer 203 is connected to a belt mount. The bearing flange 208 is hollow, and the travel wheel 205 is hollow. One end of the travel wheel 205 is fixedly connected to the outer edge of the bearing flange 208, and the other end of the travel wheel 205 is equipped with an annular end cover plate 209. Support edges 206 are machined on the inner walls of both sides of the travel wheel 205 to connect with the bearing flange 208 and the annular end cover plate 209. The AGV motor 202 is connected to the travel wheel 205 through a right-angle reducer 203. The right-angle reducer 203 can reduce the speed of the AGV motor 202 and increase the torque, so that the travel wheel 205 has a stable power source, ensuring the driving force and stability of the welding robot. The magnetic chuck 211 is rotatably mounted inside the hollow travel wheel 205. A magnetic drive shaft 212, coaxial with the travel wheel 205, is mounted on the magnetic chuck 211. Bushings 213 supporting the rotation of the magnetic drive shaft 212 are mounted on the bracket 201, the annular end cover plate 209, and the bearing flange 208. Two servo motors 210 are mounted on the bracket 201. The magnetic chuck 211 is fan-shaped, and multiple permanent magnets 215 arranged in a Hellbeck array are mounted on the fan-shaped annular surface of the magnetic chuck 211. A support edge 206 near the annular end cover plate 209 is machined with a shape similar to that of the magnetic chuck 211. 1. A contour-adaptive clearance 207 facilitates the assembly of the magnetic chuck 211. A synchronous pulley 214 supporting the synchronous belt 216 is installed on the end of the magnetic drive shaft 212 and the output shaft of the servo motor 210. Each servo motor 210 is connected to the corresponding magnetic chuck 211 via the synchronous belt 216 on the other side of the bracket 201. The fan-shaped magnetic chuck 211 significantly reduces its weight. By adjusting the angle of the permanent magnet 215 on the magnetic chuck 211 through the servo motor 210, the magnetic chuck 211 can find the maximum magnetic angle, enabling the robot to have stable suction and perform wall climbing operations.

[0028] To improve welding quality, such as Figure 7As shown, the welding assembly 4 includes a support plate 41, a welding torch 42, a weld seam tracking camera 43, and a molten pool detection camera 45. A lead screw guide module 46 is installed on one side wall of the support plate 41. The welding torch 42 is installed on the lead screw guide module 46. After the robotic arm 3 is locked in position, the lead screw guide module 46 can be used to adjust the horizontal direction of welding, so that the welding torch 42 can follow the weld seam and adjust accordingly, and can ensure the straightness of the weld seam. A wire guide tube 47 is installed on one side of the welding torch 42. The weld seam tracking camera 43 is installed on the other side of the support plate 41. A laser emitter 44 is also installed on one side of the weld seam tracking camera 43. The working direction of the weld seam tracking camera 43 and the laser emitter 44 is parallel to the working direction of the welding torch 42. The molten pool detection camera 45 is installed on the side wall of the support plate 41, and the working direction of the molten pool detection camera 45 is towards the welding torch 42.

[0029] The method of using this utility model is as follows:

[0030] In use, first adjust the angle of the magnetic chuck 211 using the servo motor 210 to move the permanent magnet 215 away from the workpiece surface. After the welding robot is positioned, control the angle of the magnetic chuck 211 again to bring the permanent magnet 215 closer to the workpiece surface to ensure the stability of the welding robot. Figure 8 , Figure 9 As shown, driven by the AGV motor 202, the welding robot moves its travel wheels 205 towards the weld seam. When wall climbing is required, the servo motor 210 drives the magnetic drive shaft 212 to rotate via the synchronous belt 216, causing the fan-shaped magnetic wheels 211 on the magnetic drive shaft 212 to rotate along with it. The servo motor 210 can precisely control the rotation angle of the magnetic wheels 211, allowing the permanent magnet 215 to find the maximum magnetic attraction angle. At this time, the magnetic wheels 211 attract the workpiece, increasing the friction between the travel wheels 205 and the workpiece surface, ensuring that the travel wheels 205 can travel and climb the wall on the workpiece surface. This type of drive component 2 not only reduces its own weight but also dynamically adjusts the magnetic attraction direction, enabling the welding robot to travel on irregular workpiece walls, improving the robot's flexibility. At the same time, the reduced weight effectively increases the robot's load capacity.

[0031] When the welding robot moves to the weld seam, the robotic arm 3 drives the welding assembly 4 to find the weld seam and perform welding. The weld seam tracking camera 43 and laser emitter 44 on the welding assembly 4 accurately capture the position of the weld seam and provide reference data for the welding torch 42. The robotic arm 3 moves the welding torch 42 to the weld seam according to the weld seam position, and works with the lead screw guide module 46 to control the welding torch 42 to weld. The molten pool detection camera 45 detects the welding position and provides feedback for the welding torch 42 to weld, thereby providing a reference for the work of the robotic arm 3 and the lead screw guide module 46. At the same time, the AGV motor 202 controls the traveling wheel 205 to move along the weld seam contour.

[0032] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A wall-climbing welding robot comprising a chassis (1), a drive assembly (2), a robot arm (3) and a welding assembly (4), characterized in that: Two sets of drive components (2) are symmetrically installed at the bottom of the chassis (1). A robotic arm (3) is installed on the chassis (1) on the side of the drive component (2) in the direction of travel. The welding component (4) is installed at the end of the robotic arm (3). The drive component (2) includes a bracket (201), an AGV motor (202), a travel wheel (205), a servo motor (210), a magnetic pulley (211), and a synchronous belt (216). The bracket (201) is inverted V-shaped. The middle part of the bracket (201) is connected to the chassis (1). The two travel wheels (205) are installed in parallel on the bracket. At both ends of the frame (201), two AGV motors (202) are mounted on the side wall of one side of the frame (201). The AGV motors (202) are connected to the opposite travel wheels (205) through the right angle reducer (203). The travel wheels (205) are hollow. The magnetic chuck (211) is rotatably mounted inside the hollow travel wheel (205). Two servo motors (210) are mounted on the frame (201). Each servo motor (210) is connected to the opposite magnetic chuck (211) through the synchronous belt (216) set on the other side of the frame (201).

2. The wall-climbing welding robot according to claim 1, characterized in that: The right-angle reducer (203) is fixed to the bracket (201) via a connecting flange (204). The output end of the right-angle reducer (203) is connected to a bearing flange (208). One end of the travel wheel (205) is fixedly connected to the outer edge of the bearing flange (208). The other end of the travel wheel (205) is equipped with an annular end cover plate (209). Support edges (206) that connect to the bearing flange (208) and the annular end cover plate (209) are machined on the inner walls on both sides of the travel wheel (205).

3. The wall-climbing welding robot according to claim 2, characterized in that: The magnetic drive shaft (212) is mounted on the magnetic wheel (211) and is coaxial with the travel wheel (205). The bracket (201), the annular end cover plate (209) and the bearing flange (208) are all equipped with bushings (213) to support the rotation of the magnetic drive shaft (212). The end of the magnetic drive shaft (212) and the output shaft of the servo motor (210) are equipped with synchronous pulleys (214) to support the synchronous belt (216).

4. The wall-climbing welding robot according to claim 2 or 3, characterized in that: The magnetic chuck (211) is fan-shaped, and a number of permanent magnets (215) arranged in a Heilbeck array are installed on the fan-shaped ring surface of the magnetic chuck (211). A clearance opening (207) adapted to the contour of the magnetic chuck (211) is machined on the support edge (206) near the annular end cover plate (209).

5. The wall-climbing welding robot according to claim 1, characterized in that: The welding assembly (4) includes a bracket (201), a welding torch (42), a weld seam tracking camera (43), and a molten pool detection camera (45). A lead screw guide module (46) is installed on one side wall of the bracket (201). The welding torch (42) is installed on the lead screw guide module (46). A wire guide tube (47) is installed on one side of the welding torch (42). The weld seam tracking camera (43) is installed on the other side of the bracket (201). A laser emitter (44) is also installed on one side of the weld seam tracking camera (43). The working directions of the weld seam tracking camera (43) and the laser emitter (44) are parallel to the working direction of the welding torch (42). The molten pool detection camera (45) is installed on the side wall of the bracket (201). The working direction of the molten pool detection camera (45) is towards the welding torch (42).

6. The wall-climbing welding robot according to claim 1, characterized in that: The chassis (1) is equipped with electrical components (5) to control the operation of drive components (2) and welding components (4).

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